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1133
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d
dt
is
a
d
er
iv
ati
v
e,
r
is
a
r
o
to
r
s
p
ee
d
,
B
is
a
f
r
ictio
n
v
i
s
co
u
s
a
n
d
J
is
a
m
o
m
e
n
t
o
f
in
er
tia.
3.
F
I
E
L
D
O
RI
E
NT
E
D
CO
N
T
RO
L
T
h
e
f
ield
o
r
ien
ted
co
n
tr
o
l
in
tr
o
d
u
ce
d
f
o
r
th
e
f
ir
s
t
ti
m
e
a
t
th
e
h
a
n
d
s
o
f
B
las
h
k
a
i
n
1
9
7
1
as
an
alter
n
ati
v
e
to
b
r
in
g
t
h
e
i
n
d
u
ct
io
n
m
o
to
r
in
s
tead
o
f
t
h
e
DC
m
o
to
r
in
i
n
d
u
s
tr
ia
l
ap
p
licatio
n
s
t
h
at
r
eq
u
ir
ed
h
i
g
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
[
5
]
.
I
n
FOC
,
th
e
s
p
ac
e
p
h
aso
r
o
f
th
e
s
tato
r
cu
r
r
en
t
is
d
ec
o
u
p
led
in
t
o
t
w
o
co
m
p
o
n
en
t
s
to
r
q
u
e
cu
r
r
en
t
co
m
p
o
n
en
t
a
n
d
f
lu
x
cu
r
r
en
t
co
m
p
o
n
en
t.
T
h
e
f
l
u
x
c
u
r
r
en
t
co
n
tr
o
l
is
alig
n
ed
w
it
h
th
e
r
o
to
r
f
lu
x
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
T
o
im
p
le
m
e
n
t
th
at,
t
h
e
p
o
s
itio
n
an
d
m
ag
n
it
u
d
e
o
f
th
e
r
o
to
r
f
lu
x
ar
e
r
eq
u
ir
ed
an
d
th
is
ca
n
b
e
d
o
n
e
d
ir
ec
tly
b
y
u
s
i
n
g
s
en
s
o
r
to
m
ea
s
u
r
e
th
e
r
o
to
r
f
lu
x
o
r
in
d
ir
ec
tl
y
b
y
e
s
ti
m
ati
n
g
th
e
r
o
to
r
f
lu
x
.
I
n
th
is
p
ap
er
th
e
r
o
to
r
f
lu
x
is
est
i
m
ated
b
y
i
n
d
ir
ec
t
m
eth
o
d
[
6
-
8
]
.
T
h
is
m
ea
n
s
th
at,
t
h
e
d
-
a
x
i
s
r
o
to
r
f
l
u
x
is
eq
u
a
l
to
th
e
r
o
to
r
f
lu
x
a
n
d
th
e
q
-
a
x
i
s
r
o
to
r
f
lu
x
b
ec
o
m
es z
er
o
s
o
th
e
r
o
to
r
f
lu
x
ca
n
b
e
ca
lc
u
lated
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
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8
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IJ
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er
2
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1
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:
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1127
Fig
u
r
e
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P
h
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r
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r
a
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o
f
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ield
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ien
ted
C
o
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tr
o
l
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m
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s
e
r
r
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dt
I
(
1
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I
n
t
h
e
es
ti
m
ated
m
o
d
el,
t
h
e
r
ef
er
en
ce
r
o
to
r
f
lu
x
ca
n
b
e
d
ed
u
ce
d
f
r
o
m
lo
o
k
u
p
tab
le
d
esig
n
ed
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n
MA
T
L
A
B
p
r
o
g
r
a
m
d
ep
en
d
in
g
u
p
o
n
t
h
e
r
o
to
r
s
p
ee
d
.
W
ith
aid
o
f
th
e
ab
o
v
e
eq
u
atio
n
th
e
esti
m
at
in
g
d
-
a
x
i
s
s
tato
r
cu
r
r
en
t c
an
b
e
ca
lc
u
late
d
as
*
*
(
1
)
r
r
d
s
e
m
d
T
d
t
L
I
(
1
2
)
T
h
e
r
o
to
r
f
lu
x
a
n
g
le
ca
n
b
e
ca
lcu
lated
as
th
e
s
u
m
o
f
r
o
to
r
p
o
s
itio
n
a
n
d
r
o
to
r
f
ield
p
o
s
itio
n
r
ef
er
r
ed
to
th
e
r
o
to
r
as th
e
f
o
llo
w
i
n
g
eq
u
a
tio
n
*
r
f
r
s
m
s
d
s
e
rr
L
T
I
(
1
3
)
An
d
th
e
m
o
to
r
to
r
q
u
e
b
ec
o
m
e
s
3
4
m
e
q
s
e
r
r
P
L
TI
L
(
1
4
)
T
h
is
to
r
q
u
e
ca
n
b
e
d
ed
u
ce
d
f
r
o
m
th
e
P
I
to
r
q
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cu
r
r
e
n
t
co
n
tr
o
ller
.
W
ith
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th
i
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to
r
q
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e,
th
e
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ated
to
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q
u
e
cu
r
r
en
t c
o
m
p
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n
e
n
t (
q
s
e
I
)
ca
n
b
e
d
ed
u
ce
d
f
r
o
m
t
h
e
ab
o
v
e
eq
u
atio
n
as
*
*
14
3
q
s
e
e
m
r
r
P
L
IT
L
(
1
5
)
W
ith
h
elp
o
f
to
r
q
u
e
cu
r
r
en
t
co
m
p
o
n
e
n
t
(
*
q
s
e
I
)
,
f
lu
x
c
u
r
r
en
t
co
m
p
o
n
en
t
(
*
d
s
e
I
)
an
d
p
o
s
itio
n
o
f
r
o
to
r
f
lu
x
(
rf
)
,
th
e
esti
m
ati
n
g
3
p
h
ase
s
ta
to
r
cu
r
r
en
t
ca
n
b
e
ca
lcu
lated
.
T
h
e
3
p
h
ase
s
tato
r
cu
r
r
en
t
esti
m
ate
d
ar
e
co
m
p
ar
ed
to
t
h
e
ac
t
u
al
t
h
r
ee
p
h
ase
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u
r
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en
t
w
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ic
h
m
ea
s
u
r
ed
b
y
s
en
s
o
r
to
s
w
itc
h
i
n
g
f
r
eq
u
en
c
y
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f
in
v
er
ter
as sh
o
w
n
i
n
Fi
g
u
r
e
2
.
T
h
is
Fig
u
r
e
s
h
o
w
s
th
e
d
etail
s
o
f
t
h
e
in
d
ir
ec
t f
ield
o
r
ien
ted
co
n
tr
o
l f
o
r
in
d
u
ctio
n
m
o
to
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
P
erfo
r
ma
n
ce
C
h
a
r
a
cteris
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s
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f I
n
d
u
ctio
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Mo
to
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w
ith
F
ield
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en
ted
C
o
n
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o
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to
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(
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md
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1128
Fig
u
r
e
2
.
Sti
g
m
atic
Dia
g
r
a
m
o
f
th
e
I
n
d
ir
ec
t Field
Or
ien
ted
C
o
n
tr
o
l o
f
I
n
d
u
ctio
n
Mo
to
r
4.
DIRE
CT
T
O
RQ
UE
CO
N
T
RO
L
T
h
e
d
ir
ec
t
t
o
r
q
u
e
co
n
tr
o
l
in
tr
o
d
u
ce
d
f
o
r
th
e
f
ir
s
t
ti
m
e
at
th
e
h
a
n
d
s
o
f
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ak
ah
as
h
i
an
d
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g
u
c
h
i
in
1
9
8
6
.
T
h
e
d
ir
ec
t
to
r
q
u
e
co
n
tr
o
l
(
DT
C
)
is
s
aid
to
b
e
o
n
e
o
f
t
h
e
f
u
tu
r
e
w
a
y
s
o
f
co
n
tr
o
lli
n
g
t
h
e
AC
m
ac
h
i
n
e
in
f
o
u
r
q
u
ad
r
an
t
s
.
I
n
DT
C
it
is
p
o
s
s
ib
le
to
co
n
tr
o
l
d
ir
ec
tl
y
th
e
s
tato
r
f
l
u
x
a
n
d
t
h
e
to
r
q
u
e
b
y
s
elec
ti
n
g
t
h
e
ap
p
r
o
p
r
iate
in
v
er
ter
s
tate.
DT
C
m
ai
n
f
ea
t
u
r
es
ar
e
d
ir
ec
t
co
n
tr
o
l
o
f
f
lu
x
a
n
d
to
r
q
u
e,
i
n
d
ir
ec
t
co
n
tr
o
l
o
f
s
ta
to
r
cu
r
r
en
ts
a
n
d
v
o
lta
g
es,
ap
p
r
o
x
i
m
ate
l
y
s
in
u
s
o
id
al
s
ta
to
r
f
l
u
x
e
s
an
d
s
tato
r
cu
r
r
en
ts
,
an
d
Hig
h
d
y
n
a
m
ic
p
er
f
o
r
m
a
n
ce
ev
e
n
at
s
ta
n
d
s
til
l
[
9
-
1
2
]
.
D
T
C
h
av
e
s
ev
er
al
ad
v
an
ta
g
e
s
if
it
i
s
co
m
p
ar
ed
to
FOC
as
,
Dec
o
u
p
led
co
n
tr
o
l o
f
to
r
q
u
e
an
d
f
l
u
x
,
A
b
s
en
ce
o
f
co
-
o
r
d
in
ate
tr
an
s
f
o
r
m
s
,
A
b
s
e
n
ce
o
f
v
o
lta
g
e
m
o
d
u
lar
b
lo
ck
,
A
b
s
e
n
ce
o
f
m
ec
h
a
n
ical
tr
an
s
d
u
ce
r
s
,
C
u
r
r
en
t
r
eg
u
lato
r
,
P
W
M
p
u
ls
e
g
e
n
er
atio
n
,
P
I
co
n
tr
o
l
o
f
f
l
u
x
an
d
to
r
q
u
e
an
d
co
-
o
r
d
in
ate
tr
a
n
s
f
o
r
m
atio
n
is
n
o
t
r
e
q
u
ir
ed
,
Ver
y
s
i
m
p
le
co
n
tr
o
l
s
c
h
e
m
e
an
d
lo
w
co
m
p
u
tatio
n
al
ti
m
e,
an
d
R
ed
u
ce
d
p
ar
a
m
eter
s
en
s
iti
v
it
y
an
d
Ver
y
g
o
o
d
d
y
n
a
m
ic
p
r
o
p
er
ties
as
w
ell
a
s
o
t
h
er
co
n
tr
o
ll
er
s
s
u
ch
as
P
I
D
f
o
r
m
o
to
r
f
l
u
x
a
n
d
to
r
q
u
e,
an
d
M
in
i
m
al
to
r
q
u
e
r
esp
o
n
s
e
ti
m
e
e
v
en
b
etter
t
h
a
n
t
h
e
VC
s
[
1
1
-
1
2
]
.
Ho
w
e
v
er
,
s
o
m
e
d
is
ad
v
an
ta
g
es
ar
e
also
p
r
esen
t
s
u
c
h
as:
P
o
s
s
ib
le
p
r
o
b
lem
s
d
u
r
in
g
s
tar
ti
n
g
,
R
eq
u
ir
e
m
e
n
t
o
f
to
r
q
u
e
an
d
f
lu
x
esti
m
ato
r
s
,
i
m
p
l
y
i
n
g
th
e
co
n
s
eq
u
e
n
t
p
ar
a
m
eter
s
id
e
n
ti
f
i
ca
tio
n
,
an
d
I
n
h
er
e
n
t
to
r
q
u
e
an
d
s
tato
r
f
lu
x
r
ip
p
le
[
9
-
1
3
]
.
A
lth
o
u
g
h
,
s
o
m
e
d
is
ad
v
an
ta
g
es
ar
e:
Hi
g
h
to
r
q
u
e
r
ip
p
les
an
d
cu
r
r
en
t
d
is
to
r
ti
o
n
s
,
L
o
w
s
w
itc
h
in
g
f
r
eq
u
en
c
y
o
f
tr
an
s
is
to
r
s
w
it
h
r
elatio
n
to
co
m
p
u
tatio
n
ti
m
e,
C
o
n
s
ta
n
t
er
r
o
r
b
et
w
ee
n
r
ef
er
en
ce
a
n
d
r
ea
l
to
r
q
u
e
[
1
2
-
1
3
]
.
T
h
e
s
tig
m
atic
d
iag
r
a
m
o
f
th
e
DT
C
is
u
s
ed
h
er
e
ca
n
b
e
s
e
e
n
in
Fi
g
u
r
e
3
.
I
n
th
i
s
s
ti
g
m
atic
d
iag
r
a
m
;
th
e
r
e
f
er
en
ce
r
o
to
r
s
p
ee
d
is
c
o
m
p
ar
ed
to
t
h
e
m
ea
s
u
r
e
o
f
th
e
m
o
to
r
s
p
ee
d
an
d
t
h
e
er
r
o
r
i
s
i
n
tr
o
d
u
ce
d
to
P
I
co
n
tr
o
ller
to
d
ed
u
ce
th
e
to
r
q
u
e
co
m
m
a
n
d
.
T
h
e
to
r
q
u
e
co
m
m
an
d
i
s
co
m
p
ar
ed
to
th
e
esti
m
ated
to
r
q
u
e
an
d
th
e
er
r
o
r
is
in
tr
o
d
u
ce
d
to
th
e
t
h
r
e
e
lev
el
h
y
s
ter
esi
s
co
n
tr
o
ller
.
A
l
s
o
th
e
s
tato
r
f
lu
x
co
m
m
an
d
is
co
m
p
ar
ed
to
th
e
esti
m
ated
s
tato
r
f
lu
x
an
d
th
e
er
r
o
r
is
in
tr
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u
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ca
n
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e
s
ee
n
in
T
ab
le
1
.
Fig
u
r
e
3
.
Sti
g
m
atic
Dia
g
r
a
m
o
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D
ir
ec
t T
o
r
q
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e
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o
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tr
o
l o
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n
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5.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
T
h
e
s
i
m
u
la
tio
n
r
es
u
lts
f
o
r
FOC
an
d
DT
C
ar
e
d
is
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s
s
ed
h
er
e,
th
e
ca
s
es
o
f
s
tu
d
y
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f
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cti
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m
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a
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th
e
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ata
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ab
le
2
.
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h
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ca
s
es o
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d
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,
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m
o
to
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f
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ll
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d
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en
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p
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.
5
.
1
.
F
irst
C
a
s
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Study
I
n
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h
is
ca
s
e,
t
h
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o
to
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ated
at
r
ated
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n
d
itio
n
s
w
it
h
FOC
a
n
d
w
it
h
DT
C
.
Fig
u
r
e
4
s
h
o
w
s
t
h
e
m
o
to
r
to
r
q
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e
w
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h
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C
an
d
Fig
u
r
e
5
s
h
o
w
s
t
h
e
m
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r
to
r
q
u
e
w
ith
DT
C
w
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er
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is
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o
u
n
d
t
h
at.
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h
e
m
o
to
r
to
r
q
u
e
is
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r
ip
p
le
w
it
h
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C
if
it
i
s
co
m
p
ar
ed
to
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C
.
T
h
e
o
v
er
s
h
o
o
tin
g
o
f
t
h
e
to
r
q
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e
i
s
h
i
g
h
er
w
ith
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.
T
h
e
m
o
to
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r
q
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e
is
r
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ch
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s
t
e
ad
y
s
tate
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n
s
h
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r
ter
ti
m
e
w
it
h
FOC
i
f
it is
co
m
p
ar
ed
to
DT
C
.
Fig
u
r
e
6
s
h
o
w
s
th
e
m
o
to
r
s
p
e
ed
w
it
h
FO
C
a
n
d
Fig
u
r
e
7
s
h
o
w
s
t
h
e
m
o
to
r
s
p
ee
d
w
it
h
DT
C
w
h
er
e
it
is
f
o
u
n
d
th
at.
T
h
e
m
o
to
r
r
ea
ch
es
t
h
e
r
ated
s
p
ee
d
w
ith
F
O
C
in
f
aster
t
h
an
t
h
at
ti
m
e
o
f
th
e
DT
C
.
Fig
u
r
e
8
s
h
o
w
s
th
e
s
tato
r
cu
r
r
en
t
w
i
th
FOC
a
n
d
Fi
g
u
r
e
9
s
h
o
w
s
t
h
e
s
tato
r
cu
r
r
en
t
w
it
h
DT
C
w
h
er
e
it is
f
o
u
n
d
th
at.
T
h
e
s
tato
r
cu
r
r
en
t
is
les
s
r
ip
p
le
w
it
h
FOC
i
f
it
is
co
m
p
ar
ed
to
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C
.
T
h
e
s
tar
tin
g
cu
r
r
e
n
t
is
h
i
g
h
er
w
i
th
DT
C
.
T
h
e
s
tato
r
cu
r
r
en
t is r
ea
c
h
ed
s
tead
y
s
tate
i
n
s
h
o
r
ter
ti
m
e
w
it
h
DT
C
if
it i
s
co
m
p
ar
ed
to
FOC
.
Fig
u
r
e
4
.
T
o
r
q
u
e
w
ith
Field
O
r
ien
ted
C
o
n
tr
o
l
Fig
u
r
e
5
.
T
o
r
q
u
e
w
ith
D
ir
ec
t T
o
r
q
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e
C
o
n
tr
o
l
Fig
u
r
e
6
.
Sp
ee
d
w
ith
Field
Or
i
en
ted
C
o
n
tr
o
l
Fig
u
r
e
7
.
Sp
ee
d
w
ith
D
ir
ec
t T
o
r
q
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e
C
o
n
tr
o
l
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d
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r
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d
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Fig
u
r
e
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s
h
o
w
s
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h
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ith
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g
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r
e
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s
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h
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m
o
to
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to
r
q
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e
w
ith
DT
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w
h
er
e
it
is
f
o
u
n
d
th
at
;
t
h
e
m
o
to
r
to
r
q
u
e
is
less
r
ip
p
le
w
it
h
FO
C
if
i
t
i
s
co
m
p
ar
ed
to
DT
C
.
T
h
e
o
v
er
s
h
o
o
tin
g
o
f
th
e
m
o
to
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to
r
q
u
e
is
ap
p
r
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x
im
ate
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y
eq
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al
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n
t
h
e
t
w
o
m
et
h
o
d
s
o
f
co
n
tr
o
l.
T
h
e
m
o
to
r
to
r
q
u
e
is
r
ea
ch
ed
s
tead
y
s
ta
te
in
s
h
o
r
ter
ti
m
e
w
it
h
FO
C
i
f
it is
co
m
p
ar
ed
to
DT
C
.
Fig
u
r
e
1
2
s
h
o
w
s
t
h
e
m
o
to
r
s
p
ee
d
w
it
h
FO
C
an
d
Fi
g
u
r
e
1
3
s
h
o
w
s
t
h
e
m
o
to
r
s
p
ee
d
w
ith
DT
C
w
h
er
e
it
is
f
o
u
n
d
t
h
at.
T
h
e
m
o
to
r
r
ea
ch
es
t
h
e
r
ated
s
p
ee
d
w
i
th
FO
C
i
n
f
aster
t
h
a
n
t
h
at
ti
m
e
o
f
D
T
C
an
d
th
e
e
f
f
ec
t
o
f
s
u
d
d
en
ap
p
lied
lo
ad
an
d
r
e
m
o
v
al
t
h
e
lo
ad
ca
n
b
e
n
eg
lecte
d
w
i
th
DT
C
.
Fi
g
u
r
e
1
4
s
h
o
ws
t
h
e
s
tato
r
cu
r
r
en
t
w
it
h
FO
C
a
n
d
Fi
g
u
r
e
1
5
s
h
o
w
s
t
h
e
s
tato
r
cu
r
r
en
t
w
i
th
DT
C
w
h
er
e
it
is
f
o
u
n
d
t
h
at.
T
h
e
s
tato
r
cu
r
r
en
t
is
les
s
r
ip
p
le
w
ith
FOC
i
f
it i
s
co
m
p
a
r
ed
to
D
T
C
.
T
h
e
s
tar
tin
g
cu
r
r
e
n
t is
h
i
g
h
er
w
it
h
DT
C
.
Fig
u
r
e
8
.
Stato
r
C
u
r
r
en
t
w
i
th
Field
Or
ien
ted
C
o
n
tr
o
l
Fig
u
r
e
9
.
Stato
r
C
u
r
r
en
t
w
i
th
Dir
ec
t T
o
r
q
u
e
C
o
n
tr
o
l
Fig
u
r
e
1
0
.
T
o
r
q
u
e
w
it
h
Fie
ld
Or
ien
ted
C
o
n
tr
o
l
Fig
u
r
e
1
1
.
T
o
r
q
u
e
w
it
h
Dir
ec
t
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q
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e
C
o
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tr
o
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Fig
u
r
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1
2
.
Sp
ee
d
w
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h
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ld
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ien
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o
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o
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Fig
u
r
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1
3
.
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ee
d
w
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h
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ec
t
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:
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5
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r
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s
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e
m
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to
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ated
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ated
c
o
n
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itio
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at
0
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ec
th
e
m
o
to
r
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p
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d
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en
l
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r
e
v
er
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e
f
o
r
FOC
an
d
DT
C
.
Fig
u
r
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1
6
s
h
o
w
s
t
h
e
m
o
to
r
to
r
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u
e
w
i
th
FOC
a
n
d
Fig
u
r
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1
7
s
h
o
w
s
th
e
m
o
to
r
to
r
q
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e
w
i
t
h
DT
C
w
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er
e
it i
s
f
o
u
n
d
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h
at.
T
h
e
m
o
to
r
to
r
q
u
e
is
les
s
r
ip
p
l
e
w
it
h
FO
C
i
f
it
is
co
m
p
ar
ed
t
o
DT
C
.
T
h
e
o
v
er
s
h
o
o
tin
g
o
f
th
e
to
r
q
u
e
is
h
i
g
h
er
w
it
h
FO
C
.
T
h
e
m
o
t
o
r
to
r
q
u
e
is
r
ea
ch
ed
s
tead
y
s
t
ate
in
s
h
o
r
ter
ti
m
e
w
it
h
FO
C
if
it
i
s
co
m
p
ar
ed
to
DT
C
.
A
t
r
ev
er
s
i
n
g
s
p
ee
d
,
th
e
m
o
to
r
to
r
q
u
e
is
m
o
r
e
ef
f
ec
t
w
it
h
DT
C
i.e
.
th
e
o
v
er
s
h
o
o
ti
n
g
i
n
th
e
m
o
to
r
is
h
ig
h
er
i
n
r
ev
er
s
e
d
ir
ec
tio
n
w
i
th
DT
C
.
Fi
g
u
r
e
1
8
s
h
o
w
s
t
h
e
m
o
to
r
s
p
ee
d
w
i
th
FOC
an
d
F
i
g
u
r
e
1
9
s
h
o
w
s
t
h
e
m
o
to
r
s
p
ee
d
w
ith
DT
C
w
h
er
e
it is
f
o
u
n
d
t
h
at.
T
h
e
m
o
to
r
r
ea
ch
es t
h
e
r
ated
s
p
ee
d
w
i
th
FO
C
in
f
as
ter
th
a
n
t
i
m
e
o
f
DT
C
.
Fig
u
r
e
1
6
.
T
o
r
q
u
e
w
it
h
Fie
ld
Or
ien
ted
C
o
n
tr
o
l
Fig
u
r
e
1
7
.
T
o
r
q
u
e
w
it
h
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ec
t
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o
r
q
u
e
C
o
n
tr
o
l
Fig
u
r
e
1
8
.
Sp
ee
d
w
it
h
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ld
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ien
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C
o
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RE
F
E
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NC
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S
[1
]
M
.
D.
M
u
rp
h
y
,
F
.
G
T
u
rn
b
a
ll
:
P
o
w
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tro
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ic co
n
tr
o
l
o
f
A
.
C
m
o
to
rs,
P
e
rg
a
m
o
n
p
re
ss
,
1
9
8
6
.
[2
]
Bo
se
B.
K:
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
V
a
riab
le
F
re
q
u
e
n
c
y
Dri
v
e
s,
IEE
E
P
re
ss
,
1
9
9
7
.
[3
]
W
.
B
Ro
sin
k
:
An
a
l
o
g
u
e
c
o
n
tr
o
l
sy
ste
m
fo
r
A.
C
mo
to
r
wit
h
PW
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v
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ria
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le
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e
d
,
i
n
p
r
o
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e
e
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in
g
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o
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e
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tro
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ic
Co
m
p
o
n
e
n
ts
a
n
d
A
p
p
li
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ti
o
n
,
Vo
l.
3
,
No
.
1
,
N
o
v
e
m
b
e
r
1
9
8
0
,
p
p
.
6
-
15.
[4
]
B.
G
.
S
tarr,
J.C.
F
.
V
a
n
L
o
o
n
:
L
S
I
c
irc
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it
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o
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o
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o
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ts
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n
d
a
p
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a
ti
o
n
Vo
l.
2
,
N
o
.
4,
A
u
g
u
st 1
9
8
0
,
p
p
.
2
1
9
-
2
2
9
.
[5
]
F
.
Blas
c
h
k
e
:
―
T
h
e
P
rin
c
ip
le
o
f
F
ield
Orie
n
tatio
n
A
p
p
li
e
d
to
t
h
e
Ne
w
T
ra
n
sv
e
c
to
r
Clo
se
d
-
L
o
o
p
C
o
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ro
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S
y
ste
m
f
o
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Ro
tatin
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iel
d
M
a
c
h
i
n
e
s‖
,
S
iem
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n
s
-
Rev
.
,
v
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l.
3
9
,
1
9
7
2
,
p
p
.
2
1
7
–
2
2
0
.
[6
]
W
.
L
e
o
n
h
a
rd
:
―
Fi
e
l
d
Or
ien
t
a
ti
o
n
fo
r
Co
n
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ll
in
g
AC
M
a
c
h
i
n
e
s
Pri
n
c
ip
le a
n
d
A
p
p
l
ica
ti
o
n
‖
,
A
tu
to
ri
a
l,
IEE
c
o
n
f
.
o
n
p
o
w
e
r
e
lec
tro
n
ic v
a
riab
le sp
e
e
d
d
riv
e
s co
n
f
.
p
u
b
.
No
.
2
9
1
,
L
o
n
d
o
n
,
1
9
8
8
p
p
.
2
7
7
-
2
8
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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IJ
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3
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[7
]
R.
Krish
n
a
n
,
A
.
S
.
B
h
a
rd
a
w
a
j
(
1
9
9
1
)
,
―
A
Re
v
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e
w
o
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se
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n
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to
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d
I
n
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u
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ti
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o
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ste
m
‖
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T
ra
n
s.
o
n
P
o
we
r
El
e
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o
l
.
6
,
No
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4
,
1
9
9
1
p
p
.
2
1
9
-
2
2
5
.
[8
]
Ha
m
id
.
A
.
T
o
li
y
a
t,
E
m
il
L
e
v
i,
M
o
n
a
Ra
in
a
―
A
Re
v
ie
w
o
f
RF
O
In
d
u
c
ti
o
n
m
o
to
r
p
a
ra
m
e
ter
Esti
m
a
ti
o
n
T
e
c
h
n
i
q
u
e
‖
,
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
En
e
rg
y
C
o
n
v
e
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io
n
s
,
Vo
l.
1
8
,
No
.
2
,
2
0
0
3
,
p
p
3
5
6
-
3
6
5
.
[9
]
G
.
S
.
Bu
ja
a
n
d
M
.
P
.
Ka
z
m
i
e
rk
o
w
s
k
i,
Dire
c
t
to
rq
u
e
c
o
n
tro
l
o
f
P
W
M
in
v
e
rter
-
f
e
d
a
c
m
o
to
rs
—
a
s
u
rv
e
y
,
IEE
E
IE
T
ra
n
s.
,
v
o
l.
5
1
,
p
p
.
7
4
4
–
7
5
7
,
A
u
g
u
st 2
0
0
4
.
[1
0
]
P.
M
a
ri
n
o
,
M
.
D.
In
c
e
c
c
o
a
n
d
N.
V
isc
ian
o
,
A
c
o
m
p
a
riso
n
o
f
Dire
c
t
T
o
rq
u
e
Co
n
tr
o
l
M
e
t
h
o
d
o
l
o
g
ies
f
o
r
In
d
u
c
t
io
n
M
o
to
r
,
IEE
E
tra
n
s
.
2
0
0
1
.
[1
1
]
G
.
Bu
ja
e
t
a
l.
,
Dire
c
t
t
o
rq
u
e
c
o
n
tr
o
l
o
f
in
d
u
c
ti
o
n
m
o
to
r
d
riv
e
s,
IEE
E
IS
IE
C
o
n
f
.
Re
c
.
,
p
p
.
T
U2
–
T
U8
,
1
9
9
7
.
[1
2
]
Bu
ra
k
Oz
p
in
e
c
i,
L
.
M
.
T
o
lb
e
rtr,
S
im
u
li
n
k
I
m
p
le
m
e
n
tatio
n
o
f
In
d
u
c
ti
o
n
M
a
c
h
in
e
M
o
d
e
l
-
A
m
o
d
u
lar
a
p
p
r
o
a
c
h
,
IEE
E
T
ra
n
s
.
2
0
0
3
.
[1
3
]
S
iv
a
G
a
n
e
sh
M
a
ll
a
,
―
A
Re
v
iew
o
n
Dire
c
t
T
o
rq
u
e
Co
n
tro
l
(
DTC)
o
f
In
d
u
c
ti
o
n
M
o
to
r:
wit
h
Ap
p
li
c
a
ti
o
n
s
o
f
Fu
zz
y
‖
,
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
El
e
c
t
rica
l,
El
e
c
tro
n
ics
,
a
n
d
O
p
ti
m
iza
ti
o
n
T
e
c
h
n
iq
u
e
s (ICE
EOT
),
p
p
.
1
3
2
–
1
4
2
,
2
0
1
6
.
B
I
O
G
RAP
H
Y
O
F
AUTHO
R
Dr.
Ha
m
d
y
M
o
h
a
m
e
d
S
o
li
m
a
n
wa
s
b
o
rn
in
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iro
-
Eg
y
p
t
o
n
2
6
De
c
e
m
b
e
r
1
9
7
0
,
He
re
c
e
iv
e
d
B.
S
c
.
in
El
e
c
tri
c
a
l
P
o
w
e
r
a
n
d
M
a
c
h
in
e
En
g
in
e
e
ri
n
g
f
ro
m
H
e
l
w
a
n
Un
iv
e
rsit
y
in
1
9
9
3
,
m
a
st
e
r
o
f
sc
ien
c
e
in
a
re
a
o
f
e
lec
tri
c
a
l
m
a
c
h
in
e
a
n
d
d
riv
e
sy
ste
m
s.
M
a
ste
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o
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